A Method for Detectiong Self-Position Using 3 Modulated LEDs and Photodiode

Abstract

In recent years, the decrease in working population due to declining birthrate and aging population has become a problem in Japan. A line trace type automatic guided vehicle is used as a solution to the problem. However, the method has some disadvantages that the route cannot be changed easily and that it cannot move while avoiding obstacles on the route. Therefore, we focused on drones that can move freely in space. As a method of autonomous movement of a drone in a non-GPS environment such as in a warehouse, a method using a stereo camera is mainly used. However, there are disadvantages in terms of cost and accuracy. Thus, in order to improve these disadvantages, we focused on a method for detectiong self-position using changes in the illuminance of light. We propose a method for detectiong three-dimensional self-position that uses three LEDs and photodiodes which are modulated to different frequencies. We experimented to check the validity of the method, and showed that this is an effective method for detecting the selfposition of the drone in a room. It has the advantages that it can move on any route just by installing three LEDs, and that the cost is low.